TY - GEN
T1 - Resource management for robotic applications
AU - Ou, Yi Zong
AU - Chu, E. T.H.
AU - Lu, Wen Wei
AU - Liu, Jane W.S.
AU - Hung, Ta Chih
AU - Hu, Jwu-Sheng
PY - 2011/12/1
Y1 - 2011/12/1
N2 - This paper presents Robotic Application Resource Management Services (RARMS), a collection of tools for integrating reusable software components of a wide class of robotic applications on Microsoft Windows, a general-purpose, commodity operating system. RARMS includes (1) a resource allocation tool called RAAPT-HV for partitioning the available processors into a specified number of virtual processors, allocating available resources to virtual processors and assigning robotic software components to virtual processors and (2) a robot-class scheduling service (RC SS) which helps independently developed components prioritize relative to each other in a way that is consistent with their timing requirements. These tools aim to provide time-sensitive components with satisfactory responsiveness in an open environment without serious impact on the performance of other components. To demonstrate the effectiveness of RARMS, we adopted for experimentation and evaluation purposes several commonly-used components of delivery robots, including face detection, speech recognition, video streaming and path planning. The results of our experiments showed that these tools can help to achieve satisfactory performance for these software components of robotic applications.
AB - This paper presents Robotic Application Resource Management Services (RARMS), a collection of tools for integrating reusable software components of a wide class of robotic applications on Microsoft Windows, a general-purpose, commodity operating system. RARMS includes (1) a resource allocation tool called RAAPT-HV for partitioning the available processors into a specified number of virtual processors, allocating available resources to virtual processors and assigning robotic software components to virtual processors and (2) a robot-class scheduling service (RC SS) which helps independently developed components prioritize relative to each other in a way that is consistent with their timing requirements. These tools aim to provide time-sensitive components with satisfactory responsiveness in an open environment without serious impact on the performance of other components. To demonstrate the effectiveness of RARMS, we adopted for experimentation and evaluation purposes several commonly-used components of delivery robots, including face detection, speech recognition, video streaming and path planning. The results of our experiments showed that these tools can help to achieve satisfactory performance for these software components of robotic applications.
KW - Hypervisor
KW - Real-time scheduling and resource management
KW - Robotic software development tools
UR - http://www.scopus.com/inward/record.url?scp=84862946796&partnerID=8YFLogxK
U2 - 10.1109/TrustCom.2011.163
DO - 10.1109/TrustCom.2011.163
M3 - Conference contribution
AN - SCOPUS:84862946796
SN - 9780769546001
T3 - Proc. 10th IEEE Int. Conf. on Trust, Security and Privacy in Computing and Communications, TrustCom 2011, 8th IEEE Int. Conf. on Embedded Software and Systems, ICESS 2011, 6th Int. Conf. on FCST 2011
SP - 1210
EP - 1216
BT - Proc. 10th IEEE Int. Conf. on Trust, Security and Privacy in Computing and Communications, TrustCom 2011, 8th IEEE Int. Conf. on Embedded Software and Systems, ICESS 2011, 6th Int. Conf. FCST 2011
Y2 - 16 November 2011 through 18 November 2011
ER -